A research in the field of hyper redundant robots experimenting on used cables and DC motors or stepper motors. The rotation which by correlated screwing and unscrewing of their ends determine their shortening or prolonging, and by consequence, the tentacle curvature reducing the inverse kinematics problem by determining the time varying backbone curve behaviour. New methods for determining optimal hyper-redundant manipulator configurations based on a continuous formulation of kinematics are developed causing high nonlinearities, and the dynamic model of the system was inferred.